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公开(公告)号：US09508148B2
公开(公告)日：2016-11-29
申请号：US13817833
申请日：2011-08-25
CPC分类号： G06T7/0018 , B25J9/1661 , B25J9/1687 , B25J9/1692 , B25J9/1697 , G05B2219/35059 , G05B2219/39391 , G05B2219/40032 , G05B2219/40616 , G05B2219/45029 , G06T7/80 , Y10S901/02 , Y10S901/47
摘要： A vision-guided alignment system to align a plurality of components includes a robotic gripper configured to move one component relative to another component and a camera coupled to a processor that generates an image of the components. A simulated robotic work cell generated by the processor calculates initial calibration positions that define the movement of the robotic gripper such that position errors between the actual position of the robotic gripper and the calibration positions are compensated by a camera space manipulation based control algorithm executed by the processor to control the robotic gripper to move one component into alignment with another component based on the image of the components.
摘要翻译： 对准多个部件的视觉引导的对准系统包括被配置为相对于另一部件移动一个部件的机器人抓爪器和耦合到产生部件的图像的处理器的相机。 由处理器生成的模拟机器人工作单元计算定义机器人抓爪器的运动的初始校准位置，使得机器人抓爪器的实际位置与校准位置之间的位置误差由基于相机空间操纵的控制算法 处理器来控制机器人抓爪以基于组件的图像将一个部件移动到与另一部件对准。
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公开(公告)号：US20130147944A1
公开(公告)日：2013-06-13
申请号：US13817833
申请日：2011-08-25
IPC分类号： G06T7/00
CPC分类号： G06T7/0018 , B25J9/1661 , B25J9/1687 , B25J9/1692 , B25J9/1697 , G05B2219/35059 , G05B2219/39391 , G05B2219/40032 , G05B2219/40616 , G05B2219/45029 , G06T7/80 , Y10S901/02 , Y10S901/47
摘要： A vision-guided alignment system to align a plurality of components includes a robotic gripper configured to move one component relative to another component and a camera coupled to a processor that generates an image of the components. A simulated robotic work cell generated by the processor calculates initial calibration positions that define the movement of the robotic gripper such that position errors between the actual position of the robotic gripper and the calibration positions are compensated by a camera space manipulation based control algorithm executed by the processor to control the robotic gripper to move one component into alignment with another component based on the image of the components.
摘要翻译： 对准多个部件的视觉引导的对准系统包括被配置为相对于另一部件移动一个部件的机器人抓爪器和耦合到产生部件的图像的处理器的相机。 由处理器生成的模拟机器人工作单元计算定义机器人抓爪器的运动的初始校准位置，使得机器人抓爪器的实际位置与校准位置之间的位置误差由基于相机空间操纵的控制算法 处理器来控制机器人抓爪以基于组件的图像将一个部件移动到与另一部件对准。
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3.发明申请Teleoperation Of Machines Having At Least One Actuated Mechanism And A Fault Detection And Recovery System 有权具有至少一个致动机构和故障检测和恢复系统的机器的远程操作公开(公告)号：US20150314447A1
公开(公告)日：2015-11-05
申请号：US14649160
申请日：2013-12-03
申请人： Biao ZHANG , Jianjun WANG , George Q. ZHANG , Sangeun CHOI , Remus BOCA , Thomas A. FUHLBRIGGE , Thomas GROTH
发明人： Biao Zhang , Jianjun Wang , George Q. Zhang , Sangeun Choi , Remus Boca , Thomas A. Fuhlbrigge , Tomas Groth
IPC分类号： B25J9/16
CPC分类号： B25J9/1689 , G05B2219/40195 , G05B2219/40204 , Y10S901/09 , Y10S901/46
摘要： A machine has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that is configured to determine from data from one or more sensors at the machine location if an actual fault has occurred in the machine when the machine is performing its predetermined function and to determine for an actual fault one or more types for the fault and transmit the one or more fault types to the control station for analysis. The code in the controller is configured to be a preprogrammed trap routine specific to the machine function that is automatically executed when an error in machine operation is detected at the machine location. The controller also has a default trap routine that is executed when specific routine does not exist.
摘要翻译： 机器具有远离控制站的至少一个致动机构。 双向实时通信链路将机器位置与控制站相连。 在机器位置处的控制器具有程序代码，其被配置为从机器位置的一个或多个传感器的数据确定机器是否在机器执行其预定功能时发生实际故障并确定实际故障 或更多类型的故障，并将一个或多个故障类型传输到控制站进行分析。 控制器中的代码被配置为特定于机器功能的预编程陷阱程序，在机器位置检测到机器操作错误时自动执行。 控制器还具有默认的陷阱程序，当特定例程不存在时，它将被执行。
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公开(公告)号：US09682480B2
公开(公告)日：2017-06-20
申请号：US14649160
申请日：2013-12-03
申请人： Biao Zhang , Jianjun Wang , George Q. Zhang , Sangeun Choi , Remus Boca , Thomas A. Fuhlbrigge , Tomas Groth
发明人： Biao Zhang , Jianjun Wang , George Q. Zhang , Sangeun Choi , Remus Boca , Thomas A. Fuhlbrigge , Tomas Groth
CPC分类号： B25J9/1689 , G05B2219/40195 , G05B2219/40204 , Y10S901/09 , Y10S901/46
摘要： A machine has at least one actuated mechanism is remotely located from a control station. A two way real-time communication link connects the machine location with the control station. A controller at the machine location has program code that is configured to determine from data from one or more sensors at the machine location if an actual fault has occurred in the machine when the machine is performing its predetermined function and to determine for an actual fault one or more types for the fault and transmit the one or more fault types to the control station for analysis. The code in the controller is configured to be a preprogrammed trap routine specific to the machine function that is automatically executed when an error in machine operation is detected at the machine location. The controller also has a default trap routine that is executed when specific routine does not exist.
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公开(公告)号：US20120165986A1
公开(公告)日：2012-06-28
申请号：US13392299
申请日：2010-08-26
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537 , G05B2219/40583
摘要： A robot system (10) for picking parts (41) from a bin (40) use the image from one or more cameras (38) to determine if the robot gripper (24) has picked one part or more than one part and uses one or more images from one or more cameras (38) to determine the position/orientation of a picked part. If the robot (12) has picked more than one part from the bin (40) then attempt is made to return the excess picked parts to the bin (40). The position/orientation of a picked part that does not meet a predetermined criteria is changed.
摘要翻译： 用于从垃圾箱（40）拾取部件（41）的机器人系统（10）使用来自一个或多个照相机（38）的图像来确定机器人夹持器（24）是否拾取了一个部分或多于一个部分，并且使用一个 或更多的图像从一个或多个照相机（38）确定所拾取的部分的位置/取向。 如果机器人（12）已经从容器（40）拾取多于一个部件，则尝试将多余的拾取部件返回到料仓（40）。 改变不符合预定标准的拾取部件的位置/方位。
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公开(公告)号：US09008841B2
公开(公告)日：2015-04-14
申请号：US13392299
申请日：2010-08-26
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537 , G05B2219/40583
摘要： A robot system (10) for picking parts (41) from a bin (40) uses the image from one or more cameras (38) to determine if the robot gripper (24) has picked one part or more than one part and uses one or more images from one or more cameras (38) to determine the position/orientation of a picked part. If the robot (12) has picked more than one part from the bin (40) then attempt is made to return the excess picked parts to the bin (40). The position/orientation of a picked part that does not meet a predetermined criteria is changed.
摘要翻译： 用于从垃圾箱（40）拾取部件（41）的机器人系统（10）使用来自一个或多个照相机（38）的图像来确定机器人夹持器（24）是否拾取了一部分或多于一个部分，并且使用一个 或更多的图像从一个或多个照相机（38）确定所拾取的部分的位置/取向。 如果机器人（12）已经从容器（40）拾取多于一个部件，则尝试将多余的拾取部件返回到料仓（40）。 改变不符合预定标准的拾取部件的位置/方位。
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7.发明授权Method and apparatus for developing a metadata-infused software program for controlling a robot 有权用于开发用于控制机器人的元数据输入软件程序的方法和装置公开(公告)号：US07643907B2
公开(公告)日：2010-01-05
申请号：US11054816
申请日：2005-02-10
申请人： Thomas A. Fuhlbrigge , Gregory Rossano , Hui Zhang , Jianjun Wang , Zhongxue Gan
发明人： Thomas A. Fuhlbrigge , Gregory Rossano , Hui Zhang , Jianjun Wang , Zhongxue Gan
IPC分类号： G05B15/00
CPC分类号： B25J9/1656 , G05B19/0426 , G05B2219/23126 , G05B2219/23254 , G05B2219/23261 , G05B2219/23291 , G05B2219/23293 , G05B2219/23389 , G05B2219/35489 , G05B2219/36032 , G05B2219/40387 , G06F8/20 , Y02P90/083
摘要： The present invention is directed to a method and apparatus for developing a metadata-infused software program for controlling a device, such as a robot. A first library of software segments with metadata and a second library of script documents are provided. A part program wizard uses a script document selected from the second library to display queries on a screen of an interface device. Using input information received in response to the queries, the part program wizard selects and combines software segments from the first library to produce the metadata-infused software program. The metadata identifies the selected software segments and includes statuses of the selected software segments. A graphical representation of the metadata infused software program is displayed on the screen and conveys the statuses of the software segments. A deployment wizard is utilized to teach data points for the metadata-infused software program.
摘要翻译： 本发明涉及用于开发用于控制诸如机器人的设备的元数据输入软件程序的方法和装置。 提供了具有元数据和第二个脚本文档库的第一个软件程序库。 零件程序向导使用从第二个库中选择的脚本文档来在界面设备的屏幕上显示查询。 使用响应于查询接收到的输入信息，零件程序向导选择并组合来自第一个库的软件段，以产生元数据输入的软件程序。 元数据识别所选择的软件段，并包括所选软件段的状态。 元数据输入软件程序的图形显示在屏幕上，并传达软件段的状态。 使用部署向导来教授元数据输入软件程序的数据点。
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公开(公告)号：US10406686B2
公开(公告)日：2019-09-10
申请号：US14652111
申请日：2013-12-13
IPC分类号： B25J9/16
摘要： A system for generating instructions for operating a robot to perform work on a workpiece has a 3D model or models of a robot scene that provides robot scene data. The system also has data of one or both hands of a gesture made with the one or both hands and a computation device that has program code configured to process the robot scene data and the gesture data to generate an instruction to operate the robot.
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公开(公告)号：US20140052295A1
公开(公告)日：2014-02-20
申请号：US14067549
申请日：2013-10-30
IPC分类号： B25J9/16
CPC分类号： B25J9/1694 , B25J9/1687 , B25J13/085 , B25J15/0019 , B25J15/0052 , B25J15/04 , B25J17/0208 , G05B2219/39574 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537 , Y10T74/20329
摘要： A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.
摘要翻译： 机器人用于从垃圾桶中取出零件。 机器人具有柔性装置，并且一个或多个工具连接到该装置以执行拾取。 合规装置具有用于监视和/或控制其顺从性的机构。 兼容装置可以具有各种实施例。 在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。 指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。 机器人具有一个或多个装置，其可以是拾取工具来搅动箱中的部件。
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公开(公告)号：US5833147A
公开(公告)日：1998-11-10
申请号：US782779
申请日：1997-01-13
申请人： Thomas A. Fuhlbrigge
发明人： Thomas A. Fuhlbrigge
CPC分类号： B05B13/0431
摘要： The present invention provides a rotary union interconnecting a material supply line and a dispense valve. Preferably, the rotary union comprises a rotatable member having a mounting end coupled to a rotating means and a dispense end including a conduit formed therein for dispensing a preselected material. According to the invention, a housing is rotatably supported about the rotatable member such that the rotatable member is rotatable relative to the housing. The housing includes an opening formed therein for communicating with the conduit and a material supply line. Even more preferably, the rotating means comprises a rotatable face plate operably coupled to a sixth axis motor of a multi-axis robot.
摘要翻译： 本发明提供一种将材料供应管线和分配阀互连的旋转联接器。 优选地，旋转接头包括可旋转构件，其具有联接到旋转装置的安装端和包括形成在其中的用于分配预选材料的导管的分配端。 根据本发明，壳体围绕可旋转构件被可旋转地支撑，使得可旋转构件相对于壳体可旋转。 壳体包括形成在其中的用于与导管连通的开口和材料供应管线。 更优选地，旋转装置包括可操作地联接到多轴机器人的第六轴电动机的可旋转面板。
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